Optimal Gaits For Compass-Like Biped Robot

With free walk velocity; the individual will naturally enlist the speed that will provide maximum energy efficiency. Inspired by this idea, we exploit a passivity based control strategy to study, the preferred walking gait of a compass-like biped robot. In fact, for any ground slope, we use a dynamic optimization of the mechanical cost which is proportional to the mechanical work in the system joints, to calculate the forward velocity that minimizes the energy expenditures. Key-Words: biped robot, passive dynamic walking, energy efficient gait, optimal velocity.